DE10149315A1 - Method for improving movement of humanoid robots in which sensitive weighing or sensor platform is used, so that weight displacements and imbalances of robot feet can be quickly and accurately detected - Google Patents

Method for improving movement of humanoid robots in which sensitive weighing or sensor platform is used, so that weight displacements and imbalances of robot feet can be quickly and accurately detected

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Publication number
DE10149315A1
DE10149315A1 DE2001149315 DE10149315A DE10149315A1 DE 10149315 A1 DE10149315 A1 DE 10149315A1 DE 2001149315 DE2001149315 DE 2001149315 DE 10149315 A DE10149315 A DE 10149315A DE 10149315 A1 DE10149315 A1 DE 10149315A1
Authority
DE
Germany
Prior art keywords
sensor platform
weighing
feet
quickly
humanoid robots
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
DE2001149315
Other languages
German (de)
Inventor
Rene Baltus
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Individual
Original Assignee
Individual
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Individual filed Critical Individual
Priority to DE2001149315 priority Critical patent/DE10149315A1/en
Publication of DE10149315A1 publication Critical patent/DE10149315A1/en
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B25J13/085—Force or torque sensors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

Method and device for improving the movement of a humanoid robot, by sensitive measurement of weight movements, whereby the feet or feet mechanisms of humanoid robots are combined with weighing or sensor platforms. The platforms comprise one or more moving linked parts and one or more force sensors generating signals that are evaluated in a computer program that supports intelligent individual evaluation.

Description

Humanoide Roboter sind bekannt. Diese Art Roboter soll im Gegensatz zu feststehenden Handhabungsautomaten dem Menschen direkt zur Seite stehen und, idealerweise, ihm von verschiedenen Aufgaben zu entlasten. Die Konstrukteure versuchen diesen Robotern menschliche Formen und Bewegungsabläufe beizubringen. Humanoid robots are known. This type of robot is said to be in contrast to fixed ones Automatic handling machines stand by the person and, ideally, by him to relieve various tasks. The designers are trying these robots to teach human forms and movements.

Ein wichtiger Teil dieser Bewegungsabläufe ist das Gehen auf zwei Beinen. Diese Aufgabe stellt höchste Anforderungen an die Sensorik und den entsprechenden Rechnerprogrammen zur Gleichgewichtsermittlung. An important part of these movements is walking on two legs. This task places the highest demands on the sensors and the corresponding computer programs for balance determination.

Offensichtlich ist die Sensorik in den Füssen selber erheblich verbesserungswürdig, wenn überhaupt eine vorhanden ist. Obviously, the sensors in the feet themselves are in need of considerable improvement, though there is one at all.

Die Erfindung hat sich die Aufgabe gestellt, eine preiswertes und effektives Verfahren und eine Vorrichtung zur Verbesserung der Gang- oder Gehdynamik humanoider Roboter zu entwickeln. The invention has set itself the task of an inexpensive and effective method and a device to improve the gait or walking dynamics of humanoid robots develop.

Hierzu ist vorgesehen die Fußmechanik oder die Füße humanoider Roboter jeweils mit mindestens einer Wäge- oder Sensorplattform, wie in z. B. DE 10 01 6697.0 beschrieben ist, zu kombinieren. Weiterhin ist vorgesehen die Fußmechanik oder die Füße humanoider Roboter mindestens zweizuteilen und die jeweiligen Teile mit einer Wäge- oder Sensorplattform, wie z. B. DE 100 16 697.0 beschrieben ist, zu kombinieren, wobei idealerweise ein Teilstück etwas größer als das andere Teilstück gestaltet ist. Damit ist der menschliche Fuß nachgestaltbar und die einfache und robuste Sensorik kann Gewichtsverlagerungen und Unebenheiten schnell und genau erfassen. Die erfaßten Werte sind dann in einer intelligenten Einzelauswertung der Lage- und Gleichgewichtsregelung eines humanoiden Roboters dienlich. The foot mechanics or the feet of humanoid robots are provided for this purpose at least one weighing or sensor platform, as in e.g. B. DE 10 01 6697.0 is described, to combine. Furthermore, the foot mechanics or the feet are more humanoid Robot at least in two and the respective parts with a weighing or Sensor platform, such as B. DE 100 16 697.0 is described to combine, wherein ideally one section is somewhat larger than the other section. So that's the human foot can be redesigned and the simple and robust sensor technology can Detect weight shifts and bumps quickly and accurately. The recorded values are then in an intelligent individual evaluation of the position and balance control of a humanoid robot.

Claims (1)

Verfahren und Vorrichtung zur Verbesserung der Geh- oder Gangdynamik humanoider Roboter durch sensibles messen der Gewichtsverlagerungen, dadurch gekennzeichnet, daß die Fußmechaniken oder die Füße humanoider Roboter jeweils mit mindestens einer Wäge- oder Sensorplattform, wie z. B. in DE 100 16 697.0 beschrieben ist, kombinierbar sind, wobei die Wäge- oder Sensorplattform aus einem oder aus mehreren beweglich verbundenen Teilstücken besteht, die jeweils eine eigenständige Wäge- oder Sensorplattform mit mindestens einem Kraftsensor darstellen und die Signale der einzelnen Kraftsensoren mittels einem geeigneten Rechnerprogramm einer intelligenten Einzelauswertung unterliegen. Method and device for improving walking or gait dynamics humanoid robot through sensitive measurement of weight shift, thereby characterized in that the foot mechanics or the feet of humanoid robots each with at least one weighing or sensor platform, such as. B. is described in DE 100 16 697.0, can be combined, the weighing or sensor platform consisting of one or more there are movably connected sections, each an independent weighing or Represent the sensor platform with at least one force sensor and the signals of the individual Force sensors using a suitable computer program of an intelligent Subject to individual evaluation.
DE2001149315 2001-10-05 2001-10-05 Method for improving movement of humanoid robots in which sensitive weighing or sensor platform is used, so that weight displacements and imbalances of robot feet can be quickly and accurately detected Withdrawn DE10149315A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
DE2001149315 DE10149315A1 (en) 2001-10-05 2001-10-05 Method for improving movement of humanoid robots in which sensitive weighing or sensor platform is used, so that weight displacements and imbalances of robot feet can be quickly and accurately detected

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
DE2001149315 DE10149315A1 (en) 2001-10-05 2001-10-05 Method for improving movement of humanoid robots in which sensitive weighing or sensor platform is used, so that weight displacements and imbalances of robot feet can be quickly and accurately detected

Publications (1)

Publication Number Publication Date
DE10149315A1 true DE10149315A1 (en) 2003-04-17

Family

ID=7701616

Family Applications (1)

Application Number Title Priority Date Filing Date
DE2001149315 Withdrawn DE10149315A1 (en) 2001-10-05 2001-10-05 Method for improving movement of humanoid robots in which sensitive weighing or sensor platform is used, so that weight displacements and imbalances of robot feet can be quickly and accurately detected

Country Status (1)

Country Link
DE (1) DE10149315A1 (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107685788A (en) * 2017-09-06 2018-02-13 滨州学院 A kind of Soccer robot

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107685788A (en) * 2017-09-06 2018-02-13 滨州学院 A kind of Soccer robot
CN107685788B (en) * 2017-09-06 2023-10-27 滨州学院 Football robot

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